US20150101908A1 - Article carrier apparatus and method - Google Patents
Article carrier apparatus and method Download PDFInfo
- Publication number
- US20150101908A1 US20150101908A1 US14/575,960 US201414575960A US2015101908A1 US 20150101908 A1 US20150101908 A1 US 20150101908A1 US 201414575960 A US201414575960 A US 201414575960A US 2015101908 A1 US2015101908 A1 US 2015101908A1
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- Prior art keywords
- lane
- diverter
- capacity use
- lanes
- adjacent
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- 238000000034 method Methods 0.000 title claims abstract description 65
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 47
- 230000001419 dependent effect Effects 0.000 claims abstract description 22
- 238000012935 Averaging Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 2
- 239000000969 carrier Substances 0.000 abstract description 14
- 238000012545 processing Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 241000167854 Bourreria succulenta Species 0.000 description 1
- 241000132456 Haplocarpha Species 0.000 description 1
- 235000019693 cherries Nutrition 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007620 mathematical function Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013642 negative control Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/68—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
- B65G47/71—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor the articles being discharged or distributed to several distinct separate conveyors or to a broader conveyor lane
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
- B07B13/14—Details or accessories
- B07B13/16—Feed or discharge arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/76—Fixed or adjustable ploughs or transverse scrapers
- B65G47/766—Adjustable ploughs or transverse scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
- B65G2201/0211—Fruits and vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/46—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points
- B65G47/51—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination
- B65G47/5104—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles
Definitions
- the present subject matter relates to article carriers for use in grading apparatus and in particular, but not exclusively, for use in grading fruit.
- the use of one or more video cameras is one known method of automatically sensing characteristics of articles.
- the method and apparatus described in U.S. Pat. No. 4,825,068, the disclosure of which is incorporated herein by reference uses a video camera in conjunction with mirrors to obtain a picture of each article as it travels past the line of sight of the mirrors.
- the mirrors enable a larger portion of the article, which is typically generally spherically shaped, to be simultaneously viewed by the camera.
- Article carriers are used to transport articles such as fruit through various measurement stages for grading purposes and to eject fruit at a required location dependent on the result of the grading process.
- Such article carriers usually include an endless circuit of carriers or cups on a conveyor chain with the cup situated to unload fruit at one of a plurality of stations. There is also often a requirement to carry large numbers of incoming fruit using a plurality of parallel carriers.
- Such article carrier apparatus having multiple conveyor chains or belts are arranged to receive individual fruit articles into respective cups, the fruit being delivered on an adjacent infeed shelf.
- the infeed shelf receives fruit and is typically inclined downwardly towards the plurality of article carriers, and may narrow in order to concentrate received fruit towards the article carriers.
- Some infeed shelves incorporate diverters which are typically blunt protrusions extending perpendicularly from the infeed shelve and angled to guide the fruit articles towards the incoming cups of the article conveyor chain. The diverters may also be used to balance the numbers of fruit directed to each article carrier to ensure high capacity carriage on each of the article carriers, for example, by ensuring that sufficient numbers of fruit articles are delivered to the article carriers at the outer ends of the parallel article carriers.
- the diverters are typically fixed and may be integral with the infeed shelf, however manual alignment or angling of the diverters may be provided in some infeed shelves.
- an article carrying apparatus comprising a plurality of carrier lanes each for receiving and conveying a number of articles and one or more diverters arranged to control the distribution of received articles into the lanes.
- a sensor is arranged to determine a capacity use parameter for each lane, and a controller is arranged to control the position of each diverter dependent on the determined capacity use parameters.
- the articles can be distributed more evenly across the lanes resulting in greater overall throughput of articles.
- the articles are fruit and the capacity use parameter is the cupfill of a lane.
- the diverters are individually rotatable, and are positioned at a receiving end of the lane and between respective adjacent lanes.
- the controller may be arranged to adjust the positions of diverters adjacent a lane dependent on a difference in the capacity use parameter of that lane and the capacity use parameters of adjacent lanes.
- the controller may be arranged to adjust the positions of diverters adjacent a lane dependent on differences between the capacity use parameter of that lane and an average capacity use parameter derived from the capacity use parameters for each of a plurality of groups of adjacent lanes, where each group of adjacent lanes comprises a different number of adjacent lanes.
- the controller may be arranged to adjust the positions of diverters adjacent a lane dependent on a lane adjustment parameter.
- the lane adjustment may comprise the sum of a plurality of group differences between the capacity use parameter of that lane and the average capacity use parameters of each group of adjacent lanes, divided by the harmonic number of the total number of groups of adjacent lanes.
- controller is arranged to adjust the positions of the diverters dependent on differences between the capacity use parameters of adjacent lanes.
- the controller is arranged to adjust the positions of the diverters using a plurality of differences between the capacity use parameter of each lane and an average capacity use parameter derived from the capacity use parameters for a plurality of groups of adjacent lanes, each group of adjacent lanes comprising a different number of adjacent lanes.
- the controller is arranged to adjust the position of each diverter using the lane adjustment parameter of adjacent lanes, and to adjust the position of each diverter dependent on a final adjustment parameter derived from averaging the lane adjustment parameters of adjacent lanes when in the same direction or which is derived from the larger of the lane adjustment parameters when in opposite directions.
- each carrier lane comprises a plurality of cups each for receiving an item, and the capacity use parameter is the cupfill of the respective carrier lane.
- the senor comprises a camera arranged to view carried articles on each respective carrier lane.
- the article carrying apparatus further comprises an infeed tray located adjacent or arranged to incorporate the diverters.
- a controller for an item carrying apparatus having a plurality of carrier lanes each for receiving and conveying a number of items, one or more diverters arranged to control the distribution of received items into the lanes, and a sensor arranged to determine a capacity use parameter for each lane; the controller arranged to control the position of each diverter dependent on the determined capacity use parameters.
- an item carrying apparatus comprising a plurality of carrier lanes each for receiving and carrying a number of items, one or more diverters arranged to control the distribution of received items into the lanes, and a sensor arranged to determine a capacity use parameter for each lane.
- the method comprises controlling the position of each diverter automatically dependent on the determined capacity use parameters.
- controllers and methods corresponding to the above apparatus are also provided.
- the invention may also be said broadly to consist in the parts, elements and features referred to or integrated in the specification of the application, individually or collectively, in any or all combinations of two or more of said parts, elements or features, and where specific integers are mentioned herein which have known equivalents in the art to which the invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.
- FIG. 1 shows a plan view of an article carrier apparatus according to an embodiment
- FIG. 2 shows a side view of an article carrier apparatus according to the embodiment of FIG. 1 ;
- FIG. 3 is a flow chart of a control system loop method according to an embodiment
- FIG. 4 is a flow chart of a lane delta method according to an embodiment
- FIG. 5 is a flow chart of a diverter adjustment method according to an embodiment.
- FIG. 6 is a schematic illustrating lane groups according to an embodiment.
- the article carrier apparatus 100 comprises a plurality of carrier lanes 120 ( 1 - x ) for receiving and carrying a number of articles 160 .
- the carrier lanes may each comprise an endless chain loop of cups each for receiving and carrying a respective article such as an item of fruit.
- the carrier lanes may comprise an endless belt loop sufficiently narrow to receive one fruit at a time.
- the carrier lanes 120 are arranged in parallel although alternative embodiments may provide for different relative arrangements of the carrier lanes.
- the carrier lanes receive fruit such as cherries or other food articles 160 from one or more infeed tray 110 .
- the infeed tray 110 is typically sloping down towards the carrier lanes 120 and may narrow in order to direct the articles 160 towards the carrier lane cups or continuous belt.
- the infeed tray 110 receives fruit or other articles 160 from a coupled apparatus such as a fruit washer.
- the plurality of carrier lanes 120 carry the articles 160 either to another article processing apparatus, or to other carrier lanes or shutes according to a sorting assessment of the respective articles based for example on size, color, number of blemishes etc.
- the cups of the carrier lanes are individually controllable to divert their respective food article into an appropriate sorting lane or shute.
- the sorting is typically carried out using an automatic sorter 140 which might use video cameras to monitor passing articles in order to determine size, shape, color, blemishes, and other parameters which can then be used to sort the respective fruit article.
- An automatic sorter is described in international PCT patent application WO 2010/008303, the content of which is hereby incorporated by reference.
- the output from the automatic sorter or sensor 140 can then be used to control the respective carrier lanes in order to deliver fruit to appropriate downstream sorting channels.
- the article carrier apparatus comprises a number of diverters 130 ( 1 - z ) arranged to control the distribution of fruit to the carrier lanes 120 .
- the diverters 130 shown in the embodiment are located adjacent and between respective carrier lanes 120 .
- different diverter locations and numbers may be employed, for example between every second carrier lane or spaced further up the infeed tray 110 .
- the diverters 130 ( 1 - z ) are individually controllable to rotate so that an input channel for a particular carrier lane 120 can be enlarged or restricted by adjusting the adjacent diverters in order to increase or reduce the flow of fruit to said carrier lane.
- By controlling all of the diverters 130 in the article carrier apparatus the distribution of articles across the carrier lanes can be made more uniform, thus increasing the overall capacity of the article carrier apparatus.
- the article carrier apparatus 100 further comprises a sensor 140 and a controller 150 .
- the sensor 140 can be an automatic sorting device, for example as previously described. Such devices may incorporate cameras in order to monitor various aspects of each passing fruit article, for example size and color. In alternative embodiments a simpler sensor may simply monitor the percentage of cups holding a fruit article 160 , or the number of fruit articles carried by each article carrier per unit time—this may be useful for example where the article carriers are continuous belts.
- the sensor 140 generates a capacity use parameter (Ci) for each lane. Where cup type article carriers are used, such a capacity use parameter is known as the cupfill of the lane as will be appreciated by those skilled in the art.
- the capacity use parameter (Ci) for each lane is then output to the controller 150 which uses this data to automatically control the position of each diverter 130 .
- some carrier lanes 120 having a high cupfill may have their adjacent diverters rotated inwardly to restrict the number of fruit 160 entering that lane, whereas other lanes may have their adjacent diverters rotated outwardly to increase the size of the input channel and hence of the number of fruit entering the lane in order to increase its cupfill.
- FIG. 2 shows a side view of the article carrier apparatus 100 of FIG. 1 .
- a single carrier lane 120 ( i ) is shown which comprises a number of cups 225 for receiving the fruit articles 160 .
- a camera 240 ( i ) forming part of the sensor 140 determines whether each cup carries an article 160 . This information is used to determine the cupfill of the lane 120 ( i ) as could be appreciated by those skilled in the art.
- a diverter 130 ( k ) on one side of the lane 120 ( i ) is rotated by an actuator 235 ( k ) controlled by the controller 150 . Similar actuators control the other diverters 130 ( 1 - z ).
- the controller 150 controls the individual diverters 130 according to a series of methods in order to more evenly distribute fruit articles across the carrier lanes.
- FIGS. 3-5 Methods according to embodiments are shown in FIGS. 3-5 .
- a flow chart for a control system loop method 300 is shown.
- the control system loop method 300 waits for the next control cycle timer to elapse.
- a typical timer value is 30 seconds and provides that the dynamic fruit load of the article carrier apparatus is checked periodically.
- the method checks at step 310 whether the average cupfill of the parallel carrier lanes exceeds a threshold, and that the infeed is running. When the infeed is running, fruit or other articles are delivered to the infeed tray 110 .
- the control system method maintains a steady position, indicated by step 315 . In the steady position, the diverters remain in their previous positions, and the next timer is set before moving back to step 305 . If at step 310 , the average cupfill or other capacity use parameter (Ci) exceeds a threshold such as 50%, and the infeed is running (fruit is being fed on to the infeed tray 110 ), then the control system 150 moves to the lane delta method indicated by step 320 .
- a threshold for example 50%
- the control system 150 moves to the lane delta method indicated by step 320 .
- the lane delta method 400 first determines a capacity use parameter (Ci) for each lane at step 405 .
- the capacity use parameter (Ci) is the cupfill which can be determined using the cameras of the sensor 140 ( 240 ).
- LaneDelta for each lane corresponds to how much the input channel to the lane should increase or decrease in order to obtain a cupfill similar to those of adjacent lanes.
- groups (j) of adjacent lanes are analyzed for each lane (i) currently under consideration, as indicated by step 415 .
- Other lane groups may be defined up to a largest group W including all adjacent lanes. Although the groups have been defined as increasing one adjacent lane on each side, this is not necessary and other allocations of groups may alternatively be defined. Taking into account more and more distant adjacent lanes by grouping them as shown improves the stability and efficiency of the article distribution methods employed by the embodiments. Thus a method with more groups is typically more efficient at distributing fruit evenly across all of the carrier lanes and avoids “hunting” of the diverters.
- the method calculates the average capacity use parameter (Cijav) for the current group.
- This parameter is simply the summation of for example the cupfill (Ci) for each of the lane carriers in the current group (j) divided by the number of lanes in the group.
- the method 400 calculates a group difference parameter (Dij) between the capacity use parameter (Ci) of the current lane and the average (Cijav) for the current group (j).
- the method determines whether there are further lane groups to process for the current lane, and if so returns to step 415 .
- step 435 the group difference parameters (Dij) are summed.
- the sum of the group difference parameters is then divided by the jth harmonic number (Hj).
- the harmonic number is a known mathematical function which is the sum of the reciprocals of natural numbers up to the number j of lane groups employed. This results in a constant scaling factor where an increase in number of lanes has a lower influence. This value then becomes the lane adjustment parameter LaneDelta (i) for the current lane (i) under consideration.
- the LaneDelta (i) value of a lane is a parameter representing a desired adjustment in article capacity for the current lane; in order to more evenly distribute the articles across the apparatus 100 .
- step 440 the method considers whether there are further lanes to process, and if so returns to step 410 where group processing of the next lane is carried out. If all lanes have been completed, the controller 150 moves on to a diverter adjustment method as indicated at step 445 .
- a diverter adjustment method is shown in the flow chart of FIG. 5 .
- the diverter adjustment method 500 receives adjustment requests for each diverter from the lane to its left and the lane to its right.
- the LaneDelta (i) values determined in the LaneDelta method of FIG. 4 are used, and correspond to lane adjustment parameters. These adjustment requests are compared in order to determine a final rotational adjustment for each diverter in order to best meet the requirements of each lane in the context of more evenly distributing fruit articles to all of the lanes of the article carrying apparatus.
- a lower control value (Diverter(i ⁇ 1).RightRequest) requests movement of the diverter to the left and a higher value requests movement of the diverter to the right. These correspond respectively to requesting the diverter to open and close the input channel to the lane or the gap between the diverters either side of the lane entrance.
- the LaneDelta has been determined from the previous lane delta method 400 , and A is a constant which can be optimized by experiment or simulation.
- the control valve corresponds to a percentage of the maximum diverter rotational range. Where the LaneDelta(i) is positive, this will result in a negative control value for the Diverter(i ⁇ 1) RightRequest control valve which corresponds to a request to move the diverter to the left.
- the diverter number to the left of the lane is one less than the lane number, hence the use of (i ⁇ 1) in the equation.
- the diverter to the left is diverter 1 (i.e., i ⁇ 1)
- the diverter to the right is diverter 2 (i.e., i)
- a request to the diverter right of the current lane (i) is also determined:
- LaneDelta value is positive, then this corresponds to a request to the right hand diverter of the lane to move left.
- the effect of these two steps 510 and 515 is that if the lane adjustment parameter for the current lane (LaneDelta(i)) is negative, then the right request for the left diverter (Diverter(i ⁇ 1).LeftRequest) is less than 0 (negative) thereby requesting the left diverter to move left.
- the left request for the right diverter (Request(i).RightDiverter) is larger than 0 (positive) which will request the right diverter to move right.
- the combined result is a request for a larger input channel or gap between left and right diverters for the current lane in order to allow more fruit articles to be received, thereby increasing its capacity use parameter. If the LaneDelta is positive (greater than 0) then the right request for the left diverter is larger than 0 causing a request for the left diverter to move right and if the left request for the RightDiverter is less than 0 (negative) this causes a request for the right diverter to move left.
- the combined result is a request for a smaller gap between the two diverters of the current lane in order to reduce the amount of fruit articles being received and hence reduces its capacity use parameter.
- step 520 the method 500 determines whether there are further lanes to consider and if so returns to step 505 so that left and right diverter request values (Diverter(i ⁇ 1).RightRequest and Diverter(i).LeftRequest) can be determined for the next lane. Note that many of the diverters will receive adjustment requests from two adjacent lanes, on the left and right of the diverter. If all lanes have been processed, the method 500 proceeds to step 525 so that the various requests for moving each diverter can be considered and a final adjustment value settled upon for implementing movement of each diverter.
- left and right diverter request values Diverter(i ⁇ 1).RightRequest and Diverter(i).LeftRequest
- the method determines a Diverter(k).FinalAdjustment value which is dependent on the various adjustment request values from adjacent lanes and determined in the preceding steps.
- Each diverter (k) will have an adjustment request from the lane to its left (Diverter(k).RightRequest) and the lane to its right (Diverter(k).LeftRequest).
- Different methods of combining these requests are used depending on whether the adjustment requests are in the same direction (e.g., rotate right) or opposite (e.g., one request to rotate left by a value and another request to rotate left by another value).
- the method 500 determines whether the adjustment request values from each adjacent lane are for the same direction (i.e. whether the sign of the value for the left request and the right request from the adjacent lanes are the same).
- step 535 a final adjustment value is arrived at which is the average of the two requests from the adjacent lanes:
- step 540 determines which request value is larger.
- the method uses the larger of the two request values.
- the method moves to step 550 where the Diverter(k).FinalAdjustment is allocated the Diverter (k).LeftRequest value. If this is not the case, then the Diverter(k).FinalAdjustment variable is assigned the Diverter (k).RightRequest value at step 545 .
- the difference between the two adjustment requests could be used.
- step 555 the Diverter (k).Final Adjustment value assigned is implemented for the current diverter 130 ( k ) using its respective actuator 235 ( k ).
- step 560 the method 500 determines whether further diverters require processing and if so returns to step 525 for the next diverter. If all diverters have been completed, then the method moves to step 565 which represents a return to the control system loop method of FIG. 3 .
- Any methods here disclosed or claimed may be implemented using a computer program product which when implemented on a computer causes the computer to execute the methods.
- a computer and/or computer program product may be implemented by any suitable processor and computer program, for example a general purpose processor and computer code instructions on a memory device CD ROM or the like or a downloaded file, a digital signal processor, ASIC or FPGA for example.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
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- Specific Conveyance Elements (AREA)
- Discharge Of Articles From Conveyors (AREA)
- Control Of Conveyors (AREA)
Abstract
Description
- This application is a continuation of PCT Application Serial No. PCT/NZ2013/000129 filed Jul. 19, 2013.
- The present subject matter relates to article carriers for use in grading apparatus and in particular, but not exclusively, for use in grading fruit.
- Processing lines for articles such as fruit often require different quality articles to be separated. This is an important commercial function, which may be used for example, to distinguish between fruit destined for export and fruit destined for the local market. Manually grading articles is costly, slow and prone to inaccuracies. Thus, automated methods and apparatus for grading articles have been developed. Known sorters can grade and sort produce by weight, color, blemish, dimensions, shape, density, internal taste/quality etc.
- The use of one or more video cameras is one known method of automatically sensing characteristics of articles. For example, the method and apparatus described in U.S. Pat. No. 4,825,068, the disclosure of which is incorporated herein by reference, uses a video camera in conjunction with mirrors to obtain a picture of each article as it travels past the line of sight of the mirrors. The mirrors enable a larger portion of the article, which is typically generally spherically shaped, to be simultaneously viewed by the camera.
- Article carriers are used to transport articles such as fruit through various measurement stages for grading purposes and to eject fruit at a required location dependent on the result of the grading process. Such article carriers usually include an endless circuit of carriers or cups on a conveyor chain with the cup situated to unload fruit at one of a plurality of stations. There is also often a requirement to carry large numbers of incoming fruit using a plurality of parallel carriers. Typically such article carrier apparatus having multiple conveyor chains or belts are arranged to receive individual fruit articles into respective cups, the fruit being delivered on an adjacent infeed shelf.
- The infeed shelf receives fruit and is typically inclined downwardly towards the plurality of article carriers, and may narrow in order to concentrate received fruit towards the article carriers. Some infeed shelves incorporate diverters which are typically blunt protrusions extending perpendicularly from the infeed shelve and angled to guide the fruit articles towards the incoming cups of the article conveyor chain. The diverters may also be used to balance the numbers of fruit directed to each article carrier to ensure high capacity carriage on each of the article carriers, for example, by ensuring that sufficient numbers of fruit articles are delivered to the article carriers at the outer ends of the parallel article carriers. The diverters are typically fixed and may be integral with the infeed shelf, however manual alignment or angling of the diverters may be provided in some infeed shelves.
- Throughout this specification, any reference to items of prior art is in no way to be deemed as an admission that such prior art constitutes part of the common general knowledge.
- It is an object of the present subject matter to provide an improved article carrier apparatus, or at least to provide the public with the useful alternative.
- In one aspect there is provided an article carrying apparatus comprising a plurality of carrier lanes each for receiving and conveying a number of articles and one or more diverters arranged to control the distribution of received articles into the lanes. A sensor is arranged to determine a capacity use parameter for each lane, and a controller is arranged to control the position of each diverter dependent on the determined capacity use parameters.
- By automatically controlling the diverters based on the capacity use parameters of the lanes, the articles can be distributed more evenly across the lanes resulting in greater overall throughput of articles. In an embodiment the articles are fruit and the capacity use parameter is the cupfill of a lane.
- In an embodiment the diverters are individually rotatable, and are positioned at a receiving end of the lane and between respective adjacent lanes.
- In an embodiment the controller may be arranged to adjust the positions of diverters adjacent a lane dependent on a difference in the capacity use parameter of that lane and the capacity use parameters of adjacent lanes.
- In an embodiment the controller may be arranged to adjust the positions of diverters adjacent a lane dependent on differences between the capacity use parameter of that lane and an average capacity use parameter derived from the capacity use parameters for each of a plurality of groups of adjacent lanes, where each group of adjacent lanes comprises a different number of adjacent lanes.
- In an embodiment the controller may be arranged to adjust the positions of diverters adjacent a lane dependent on a lane adjustment parameter. The lane adjustment may comprise the sum of a plurality of group differences between the capacity use parameter of that lane and the average capacity use parameters of each group of adjacent lanes, divided by the harmonic number of the total number of groups of adjacent lanes.
- In an embodiment the controller is arranged to adjust the positions of the diverters dependent on differences between the capacity use parameters of adjacent lanes.
- In an embodiment the controller is arranged to adjust the positions of the diverters using a plurality of differences between the capacity use parameter of each lane and an average capacity use parameter derived from the capacity use parameters for a plurality of groups of adjacent lanes, each group of adjacent lanes comprising a different number of adjacent lanes.
- In an embodiment the controller is arranged to adjust the position of each diverter using the lane adjustment parameter of adjacent lanes, and to adjust the position of each diverter dependent on a final adjustment parameter derived from averaging the lane adjustment parameters of adjacent lanes when in the same direction or which is derived from the larger of the lane adjustment parameters when in opposite directions.
- In an embodiment each carrier lane comprises a plurality of cups each for receiving an item, and the capacity use parameter is the cupfill of the respective carrier lane.
- In an embodiment the sensor comprises a camera arranged to view carried articles on each respective carrier lane.
- In an embodiment the article carrying apparatus further comprises an infeed tray located adjacent or arranged to incorporate the diverters.
- In another aspect there is provided a controller for an item carrying apparatus having a plurality of carrier lanes each for receiving and conveying a number of items, one or more diverters arranged to control the distribution of received items into the lanes, and a sensor arranged to determine a capacity use parameter for each lane; the controller arranged to control the position of each diverter dependent on the determined capacity use parameters.
- In another aspect there is provided a method of operating an item carrying apparatus comprising a plurality of carrier lanes each for receiving and carrying a number of items, one or more diverters arranged to control the distribution of received items into the lanes, and a sensor arranged to determine a capacity use parameter for each lane. The method comprises controlling the position of each diverter automatically dependent on the determined capacity use parameters.
- In embodiments, controllers and methods corresponding to the above apparatus are also provided.
- In another aspect there is provided a computer program product which when implemented on a computer causes the computer to execute the above defined methods.
- The invention may also be said broadly to consist in the parts, elements and features referred to or integrated in the specification of the application, individually or collectively, in any or all combinations of two or more of said parts, elements or features, and where specific integers are mentioned herein which have known equivalents in the art to which the invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.
- Further aspects of the invention, which should be considered in all its novel aspects, will be become apparent to those skilled in the art upon reading of the following description which provides at least one example of a practical application of the invention.
- Embodiments of the invention will now be described with reference to the accompanying drawings, by way of example only and without intending to be limiting, in which:
-
FIG. 1 shows a plan view of an article carrier apparatus according to an embodiment; -
FIG. 2 shows a side view of an article carrier apparatus according to the embodiment ofFIG. 1 ; -
FIG. 3 is a flow chart of a control system loop method according to an embodiment; -
FIG. 4 is a flow chart of a lane delta method according to an embodiment; -
FIG. 5 is a flow chart of a diverter adjustment method according to an embodiment; and -
FIG. 6 is a schematic illustrating lane groups according to an embodiment. - An article carrier apparatus according to an embodiment is shown in plan view in
FIG. 1 . Thearticle carrier apparatus 100 comprises a plurality of carrier lanes 120 (1-x) for receiving and carrying a number ofarticles 160. The carrier lanes may each comprise an endless chain loop of cups each for receiving and carrying a respective article such as an item of fruit. Alternatively, the carrier lanes may comprise an endless belt loop sufficiently narrow to receive one fruit at a time. Thecarrier lanes 120 are arranged in parallel although alternative embodiments may provide for different relative arrangements of the carrier lanes. The carrier lanes receive fruit such as cherries orother food articles 160 from one or more infeedtray 110. The infeedtray 110 is typically sloping down towards thecarrier lanes 120 and may narrow in order to direct thearticles 160 towards the carrier lane cups or continuous belt. The infeedtray 110 receives fruit orother articles 160 from a coupled apparatus such as a fruit washer. The plurality ofcarrier lanes 120 carry thearticles 160 either to another article processing apparatus, or to other carrier lanes or shutes according to a sorting assessment of the respective articles based for example on size, color, number of blemishes etc. - Those skilled in the art will appreciate that the cups of the carrier lanes are individually controllable to divert their respective food article into an appropriate sorting lane or shute. The sorting is typically carried out using an
automatic sorter 140 which might use video cameras to monitor passing articles in order to determine size, shape, color, blemishes, and other parameters which can then be used to sort the respective fruit article. A known automatic sorter is described in international PCT patent application WO 2010/008303, the content of which is hereby incorporated by reference. The output from the automatic sorter orsensor 140 can then be used to control the respective carrier lanes in order to deliver fruit to appropriate downstream sorting channels. - In order to maximize throughput of
fruit articles 160, it has been recognized that the fruit arriving on theinfeed tray 110 should be distributed as evenly as possible across thecarrier lanes 120 in order to maximize the capacity usage of eachcarrier lane 120. In other words it is desired for example to avoid fruit bunching near the middle carrier lanes whilst very little fruit is delivered to the outer lanes resulting in high capacity usage at the middle lanes but low capacity usage at the outer lane. In order to achieve a more even distribution of fruit to the carrier lanes, the article carrier apparatus comprises a number of diverters 130 (1-z) arranged to control the distribution of fruit to thecarrier lanes 120. Thediverters 130 shown in the embodiment are located adjacent and betweenrespective carrier lanes 120. In alternative embodiments, different diverter locations and numbers may be employed, for example between every second carrier lane or spaced further up theinfeed tray 110. The diverters 130 (1-z) are individually controllable to rotate so that an input channel for aparticular carrier lane 120 can be enlarged or restricted by adjusting the adjacent diverters in order to increase or reduce the flow of fruit to said carrier lane. By controlling all of thediverters 130 in the article carrier apparatus, the distribution of articles across the carrier lanes can be made more uniform, thus increasing the overall capacity of the article carrier apparatus. - The
article carrier apparatus 100 further comprises asensor 140 and acontroller 150. Thesensor 140 can be an automatic sorting device, for example as previously described. Such devices may incorporate cameras in order to monitor various aspects of each passing fruit article, for example size and color. In alternative embodiments a simpler sensor may simply monitor the percentage of cups holding afruit article 160, or the number of fruit articles carried by each article carrier per unit time—this may be useful for example where the article carriers are continuous belts. Thesensor 140 generates a capacity use parameter (Ci) for each lane. Where cup type article carriers are used, such a capacity use parameter is known as the cupfill of the lane as will be appreciated by those skilled in the art. The capacity use parameter (Ci) for each lane is then output to thecontroller 150 which uses this data to automatically control the position of eachdiverter 130. Thus for example somecarrier lanes 120 having a high cupfill may have their adjacent diverters rotated inwardly to restrict the number offruit 160 entering that lane, whereas other lanes may have their adjacent diverters rotated outwardly to increase the size of the input channel and hence of the number of fruit entering the lane in order to increase its cupfill. -
FIG. 2 shows a side view of thearticle carrier apparatus 100 ofFIG. 1 . A single carrier lane 120 (i) is shown which comprises a number ofcups 225 for receiving thefruit articles 160. A camera 240 (i) forming part of thesensor 140 determines whether each cup carries anarticle 160. This information is used to determine the cupfill of the lane 120 (i) as could be appreciated by those skilled in the art. A diverter 130 (k) on one side of the lane 120 (i) is rotated by an actuator 235 (k) controlled by thecontroller 150. Similar actuators control the other diverters 130 (1-z). Thecontroller 150 controls theindividual diverters 130 according to a series of methods in order to more evenly distribute fruit articles across the carrier lanes. - Methods according to embodiments are shown in
FIGS. 3-5 . Referring toFIG. 3 , a flow chart for a controlsystem loop method 300 is shown. Atstep 305, the controlsystem loop method 300 waits for the next control cycle timer to elapse. A typical timer value is 30 seconds and provides that the dynamic fruit load of the article carrier apparatus is checked periodically. Once the current timer elapses, the method checks atstep 310 whether the average cupfill of the parallel carrier lanes exceeds a threshold, and that the infeed is running. When the infeed is running, fruit or other articles are delivered to theinfeed tray 110. If the average cupfill is below the threshold (for example 50%) or the infeed is not running, then the control system method maintains a steady position, indicated bystep 315. In the steady position, the diverters remain in their previous positions, and the next timer is set before moving back tostep 305. If atstep 310, the average cupfill or other capacity use parameter (Ci) exceeds a threshold such as 50%, and the infeed is running (fruit is being fed on to the infeed tray 110), then thecontrol system 150 moves to the lane delta method indicated bystep 320. Such a state is indicative of high numbers of fruit being carried by thearticle carrier apparatus 100, and that it would benefit from even distribution of fruit across the lanes. - The lane delta method is shown in more detail in the flow chart of
FIG. 4 . Thelane delta method 400 first determines a capacity use parameter (Ci) for each lane atstep 405. In the embodiment ofFIGS. 1 and 2 , the capacity use parameter (Ci) is the cupfill which can be determined using the cameras of the sensor 140 (240). Then atstep 410, themethod 400 performs a number of steps to determine a lane adjustment parameter LaneDelta(j) for each of the carrier lanes (i=1−x). The LaneDelta for each lane corresponds to how much the input channel to the lane should increase or decrease in order to obtain a cupfill similar to those of adjacent lanes. - In order to determine the LaneDelta(i) for each lane (i), groups (j) of adjacent lanes are analyzed for each lane (i) currently under consideration, as indicated by
step 415. The allocation of lane groups (j) is illustrated schematically inFIG. 6 . Taking as an example lane 120 (3) or i=3, a number of groups of adjacent lanes can be defined. Group 1 (j=1, and i=3) defines the smallest group of adjacent lanes comprising only the two immediately adjacent lanes 120 (2) and 120 (4). Larger group 2 (j=2 and i=3) includes two adjacent lanes on either side of the current lane of interest, the group comprising lanes 120 (1-5). The next largest group 3 (j=3 and i=3) extends to 3 adjacent lanes on each side where available. In this particular case becauselane 1 is an outer lane only two adjacent lanes are available to the left of current lane i=3. Other lane groups may be defined up to a largest group W including all adjacent lanes. Although the groups have been defined as increasing one adjacent lane on each side, this is not necessary and other allocations of groups may alternatively be defined. Taking into account more and more distant adjacent lanes by grouping them as shown improves the stability and efficiency of the article distribution methods employed by the embodiments. Thus a method with more groups is typically more efficient at distributing fruit evenly across all of the carrier lanes and avoids “hunting” of the diverters. - Returning again to
FIG. 4 , for each of the defined lane groups j=1−w for each lane i=1−x, atstep 420 the method calculates the average capacity use parameter (Cijav) for the current group. This parameter is simply the summation of for example the cupfill (Ci) for each of the lane carriers in the current group (j) divided by the number of lanes in the group. Atstep 425, themethod 400 calculates a group difference parameter (Dij) between the capacity use parameter (Ci) of the current lane and the average (Cijav) for the current group (j). Atstep 430, the method determines whether there are further lane groups to process for the current lane, and if so returns to step 415. If all of the lane groups (j=1−w) for the current lane i have been completed, then themethod 400 proceeds to step 435 where the group difference parameters (Dij) are summed. The sum of the group difference parameters is then divided by the jth harmonic number (Hj). The harmonic number is a known mathematical function which is the sum of the reciprocals of natural numbers up to the number j of lane groups employed. This results in a constant scaling factor where an increase in number of lanes has a lower influence. This value then becomes the lane adjustment parameter LaneDelta (i) for the current lane (i) under consideration. The LaneDelta (i) value of a lane is a parameter representing a desired adjustment in article capacity for the current lane; in order to more evenly distribute the articles across theapparatus 100. In an alternative embodiment, the LaneDelta(i) may be calculated by dividing each group difference parameter by the lane group number, i.e., LaneDelta(i)=Sum (Dij/j). This way the influence of lanes which are further away is reduced in a linear fashion with their distance—i.e., the further away lanes are (or the larger the lane group is) the less influence does it have when calculating the difference parameter. - At
step 440, the method considers whether there are further lanes to process, and if so returns to step 410 where group processing of the next lane is carried out. If all lanes have been completed, thecontroller 150 moves on to a diverter adjustment method as indicated atstep 445. - A diverter adjustment method according to an embodiment is shown in the flow chart of
FIG. 5 . Thediverter adjustment method 500 receives adjustment requests for each diverter from the lane to its left and the lane to its right. In this embodiment the LaneDelta (i) values determined in the LaneDelta method ofFIG. 4 are used, and correspond to lane adjustment parameters. These adjustment requests are compared in order to determine a final rotational adjustment for each diverter in order to best meet the requirements of each lane in the context of more evenly distributing fruit articles to all of the lanes of the article carrying apparatus. - The
diverter adjustment method 500 according to the embodiment ofFIG. 5 first determines adjustment requests for adjacent diverters of each lane starting atstep 505. For each lane i=1−x, the method first determines a closing or right rotation adjustment for its associated left diverter according to: -
Diverter(i−1).RightRequest=0−LaneDelta(i)*A. - A lower control value (Diverter(i−1).RightRequest) requests movement of the diverter to the left and a higher value requests movement of the diverter to the right. These correspond respectively to requesting the diverter to open and close the input channel to the lane or the gap between the diverters either side of the lane entrance. The LaneDelta has been determined from the previous
lane delta method 400, and A is a constant which can be optimized by experiment or simulation. In an embodiment the control valve corresponds to a percentage of the maximum diverter rotational range. Where the LaneDelta(i) is positive, this will result in a negative control value for the Diverter(i−1) RightRequest control valve which corresponds to a request to move the diverter to the left. For the embodiment ofFIG. 1 , the diverter number to the left of the lane is one less than the lane number, hence the use of (i−1) in the equation. Thus for example when processing lane i=2, the diverter to the left is diverter 1 (i.e., i−1), and the diverter to the right is diverter 2 (i.e., i) - At
step 515, a request to the diverter right of the current lane (i) is also determined: -
Diverter(i).LeftRequest=LaneDelta(i)*A. - If the LaneDelta value is positive, then this corresponds to a request to the right hand diverter of the lane to move left. The effect of these two
steps - For end lanes where there is no left or right diverter, these steps are ignored by the method as would be understood by those skilled in the art. At
step 520 themethod 500 determines whether there are further lanes to consider and if so returns to step 505 so that left and right diverter request values (Diverter(i−1).RightRequest and Diverter(i).LeftRequest) can be determined for the next lane. Note that many of the diverters will receive adjustment requests from two adjacent lanes, on the left and right of the diverter. If all lanes have been processed, themethod 500 proceeds to step 525 so that the various requests for moving each diverter can be considered and a final adjustment value settled upon for implementing movement of each diverter. - For each diverter k=1−z, the method determines a Diverter(k).FinalAdjustment value which is dependent on the various adjustment request values from adjacent lanes and determined in the preceding steps. Each diverter (k) will have an adjustment request from the lane to its left (Diverter(k).RightRequest) and the lane to its right (Diverter(k).LeftRequest). Different methods of combining these requests are used depending on whether the adjustment requests are in the same direction (e.g., rotate right) or opposite (e.g., one request to rotate left by a value and another request to rotate left by another value).
- At step 530, for each diverter the
method 500 determines whether the adjustment request values from each adjacent lane are for the same direction (i.e. whether the sign of the value for the left request and the right request from the adjacent lanes are the same). - If the requested adjustments are in the same direction (e.g. both left), the method moves to step 535 where a final adjustment value is arrived at which is the average of the two requests from the adjacent lanes:
-
Diverter(k).FinalAdjustment=(Diverter(k).LeftRequest+Diverter(k).RightRequest)/2. - Using the average reduces hunting effects which might result from using one extreme adjustment request for example.
- If however the signs are different, in other words one lane is requesting the diverter to move right and the other lane is requesting the diverter to move left, then the method moves to step 540 which determines which request value is larger. The method uses the larger of the two request values. Thus if Diverter(k).LeftRequest is greater than Diverter(k).RightRequest, then the method moves to step 550 where the Diverter(k).FinalAdjustment is allocated the Diverter (k).LeftRequest value. If this is not the case, then the Diverter(k).FinalAdjustment variable is assigned the Diverter (k).RightRequest value at
step 545. In an alternative embodiment, the difference between the two adjustment requests could be used. - The method then moves to step 555 where the Diverter (k).Final Adjustment value assigned is implemented for the current diverter 130(k) using its respective actuator 235 (k). At step 560, the
method 500 determines whether further diverters require processing and if so returns to step 525 for the next diverter. If all diverters have been completed, then the method moves to step 565 which represents a return to the control system loop method ofFIG. 3 . - Although the above methods have been described in order to implement automatic control of diverter positions dependant on the lane capacity use parameters, variations on the various parameters used, the assignment of values or the equations could alternatively be used. For example different diverter positions could be utilized which are not adjacent the carrier lanes, and may not be provided between the carrier lanes. Furthermore a different arrangement of carrier lane groups may be employed, including not using such groups at all. Different ways in which requests from left and right lanes may be combined to generate movement in a corresponding diverter could alternatively be used. In a further arrangement the
diverter adjustment method 500 or thelane delta method 400 may be combined with a different lane delta or diverter adjustment method respectively. - Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise”, “comprising”, and like, are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense, that is to say, in the sense of “including, but not limited to”.
- Where in the foregoing description, reference has been made to specific components or integers of the invention having known equivalents, then such equivalents are herein incorporated as if individually set forth.
- Although this invention has been described by way of example and with reference to possible embodiments thereof, it is to be understood that modifications or improvements may be made thereto without departing from the scope of the invention.
- Any methods here disclosed or claimed may be implemented using a computer program product which when implemented on a computer causes the computer to execute the methods. Such a computer and/or computer program product may be implemented by any suitable processor and computer program, for example a general purpose processor and computer code instructions on a memory device CD ROM or the like or a downloaded file, a digital signal processor, ASIC or FPGA for example.
Claims (29)
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US9533837B2 (en) * | 2014-12-18 | 2017-01-03 | Compac Technologies Limited | Article carrier apparatus |
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IT202000018859A1 (en) * | 2020-07-31 | 2022-01-31 | Gd Spa | TRANSPORT UNIT OF ITEMS |
CN116745585A (en) | 2021-01-11 | 2023-09-12 | 杜蓝威兰有限公司 | Product sorting system and method |
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- 2013-07-19 WO PCT/NZ2013/000129 patent/WO2015009164A1/en active Application Filing
- 2013-07-19 AU AU2013394431A patent/AU2013394431B2/en active Active
- 2013-07-19 EP EP13889620.4A patent/EP3021987B1/en active Active
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EP3021987A4 (en) | 2017-05-17 |
ES2944843T3 (en) | 2023-06-26 |
US9475655B2 (en) | 2016-10-25 |
PT3021987T (en) | 2023-05-11 |
CL2016000068A1 (en) | 2016-10-21 |
WO2015009164A1 (en) | 2015-01-22 |
EP3021987A1 (en) | 2016-05-25 |
EP3021987B1 (en) | 2023-04-26 |
AU2013394431B2 (en) | 2018-12-06 |
PL3021987T3 (en) | 2023-08-28 |
AU2013394431A1 (en) | 2016-01-21 |
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